The TPMS modules can be reused, yes. However, you are not supposed move the valve stems from one wheel to another -- the TPMS washer and rubber seal are designed to compress and seal only once. When the tire shop moves the modules to the other wheel, they'll use a "TPMS rebuild kit", which re-uses the module but installs a new valve stem, washer, seal, and valve core.
Alternatively, if you want to purchase new modules (which will come with all the valve stem components) you can purchase a set of the Autel universal modules and I can program them for you. See the post in the For Sale forum:
For Sale: Programming Service for Autel TPMS Sensors - $25
The Autel modules are significantly less expensive than the modules that Tesla sells. They work perfectly, I have a set on my Model 3.
This would give you two sets of modules, and you can then use both sets of wheels if you want (for example a summer set + a winter set, or a handling/track set + an efficiency set). This might be good for your P3D+, as the stock 20" wheels are summer/handling tires, not the best choice for colder temperatures or long road trips.